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[conf] all frogs

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This commit is contained in:
Christophe De Wagter
2015-09-16 18:04:36 +02:00
parent a0f49a4251
commit 0b2cb9953d
5 changed files with 40 additions and 28 deletions
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conf/airframes/BR/bebop_indi.xml
+1 -2
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@@ -93,8 +93,7 @@
<define name="CALC_AMSL_BARO" value="TRUE"/> <define name="CALC_AMSL_BARO" value="TRUE"/>
</section> </section>
<include href="conf/airframes/TUDelft/calibrations/bebop4.xml" /> <include href="conf/airframes/TUDelft/calibrations/bebop8.xml" />
<!-- <include href="conf/airframes/TUDelft/calibrations/bebop6.xml" />-->
<section name="IMU" prefix="IMU_"> <section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/> <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
conf/airframes/TUDelft/airframes/bebop_indi_frog.xml → conf/airframes/BR/bebop_indi_frog2.xml
+7 -10
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@@ -1,4 +1,4 @@
<!DOCTYPE airframe SYSTEM "../../airframe.dtd"> <!DOCTYPE airframe SYSTEM "../airframe.dtd">
<airframe name="bebop_indi"> <airframe name="bebop_indi">
@@ -38,12 +38,10 @@
</load--> </load-->
<load name="video_thread.xml"> <load name="video_thread.xml">
<define name="VIDEO_THREAD_FPS" value="4"/> <define name="VIDEO_THREAD_FPS" value="4"/>
<define name="VIDEO_THREAD_DEVICE" value="/dev/video0"/> <define name="VIDEO_THREAD_CAMERA" value="bottom_camera"/>
<define name="VIDEO_THREAD_SUBDEV" value="/dev/v4l-subdev0"/>
<define name="VIDEO_THREAD_DEVICE_SIZE" value="640,480"/>
<define name="VIDEO_THREAD_DEVICE_BUFFERS" value="60"/>
<define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/> <define name="VIDEO_THREAD_SHOT_PATH" value="/data/ftp/internal_000/images"/>
</load> </load>
<load name="cv_blob_locator.xml"/>
<load name="video_rtp_stream.xml"> <load name="video_rtp_stream.xml">
<define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/> <define name="VIEWVIDEO_QUALITY_FACTOR" value="80"/>
<define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/> <define name="VIEWVIDEO_DOWNSIZE_FACTOR" value="1"/>
@@ -52,13 +50,12 @@
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/> <define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/>
</load> </load>
<load name="nav_survey_poly_rotorcraft.xml"> <load name="nav_survey_poly_rotorcraft.xml">
<define name="RECTANGLE_SURVEY_DEFAULT_SWEEP" value="10"/> <define name="POLYSURVEY_DEFAULT_DISTANCE" value="10"/>
</load> </load>
<load name="digital_cam_video.xml"> <load name="digital_cam_video.xml">
<define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/> <define name="DC_AUTOSHOOT_DISTANCE_INTERVAL" value="5"/>
</load> </load>
<load name="video_exif.xml"/> <load name="video_exif.xml"/>
<load name="cv_colorfilter.xml"/>
</modules> </modules>
<commands> <commands>
@@ -96,7 +93,7 @@
<define name="CALC_AMSL_BARO" value="TRUE"/> <define name="CALC_AMSL_BARO" value="TRUE"/>
</section> </section>
<include href="conf/airframes/TUDelft/calibrations/bebop8.xml"/> <include href="conf/airframes/TUDelft/calibrations/bebop4.xml"/>
<section name="IMU" prefix="IMU_"> <section name="IMU" prefix="IMU_">
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/> <define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
@@ -221,8 +218,8 @@
<define name="REF_MAX_SPEED" value="2" unit="m/s"/> <define name="REF_MAX_SPEED" value="2" unit="m/s"/>
<!-- Bad weather --> <!-- Bad weather -->
<!-- define name="MAX_BANK" value="32" unit="deg"/ --> <!-- define name="MAX_BANK" value="32" unit="deg"/ -->
<define name="PGAIN" value="7"/> <define name="PGAIN" value="15"/>
<define name="DGAIN" value="76"/> <define name="DGAIN" value="100"/>
<define name="IGAIN" value="30"/> <define name="IGAIN" value="30"/>
</section> </section>
conf/airframes/CDW/mavtec_cdw.xml
+2 -1
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@@ -30,9 +30,10 @@
</firmware> </firmware>
<section name="AUTOPILOT"> <section name="AUTOPILOT">
<define name="MODE_STARTUP" value="AP_MODE_NAV"/>
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/> <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
<define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/> <define name="MODE_AUTO1" value="AP_MODE_ATTITUDE_Z_HOLD"/>
<define name="MODE_AUTO2" value="AP_MODE_HOVER_Z_HOLD"/> <define name="MODE_AUTO2" value="AP_MODE_NAV"/>
</section> </section>
<!-- ************************* MODULES ************************* --> <!-- ************************* MODULES ************************* -->
conf/airframes/TUDelft/conf.xml
+25 -14
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@@ -65,6 +65,28 @@
settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml" settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml [modules/nav_survey_rectangle_rotorcraft.xml] modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml"
gui_color="#ffff0689b7a1" gui_color="#ffff0689b7a1"
/> />
<aircraft
name="Bebop_INDI_frog1"
ac_id="25"
airframe="airframes/BR/bebop_indi_frog.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/Tudelft/rotorcraft_survey_delft.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_indi.xml"
settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/cv_blob_locator.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/digital_cam_video.xml"
gui_color="#ffff0689b7a1"
/>
<aircraft
name="Bebop_INDI_frog2"
ac_id="25"
airframe="airframes/BR/bebop_indi_frog2.xml"
radio="radios/dummy.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/Tudelft/rotorcraft_survey_delft.xml"
settings="settings/rotorcraft_basic.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_secondary.xml settings/estimation/ahrs_float_mlkf.xml settings/estimation/ahrs_int_cmpl_quat.xml settings/control/stabilization_att_indi.xml"
settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam_video.xml modules/cv_colorfilter.xml"
gui_color="#ffff0689b7a1"
/>
<aircraft <aircraft
name="Bebop_default" name="Bebop_default"
ac_id="20" ac_id="20"
@@ -93,10 +115,10 @@
airframe="airframes/CDW/mavtec_cdw.xml" airframe="airframes/CDW/mavtec_cdw.xml"
radio="radios/R6107SP_7ch.xml" radio="radios/R6107SP_7ch.xml"
telemetry="telemetry/default_rotorcraft.xml" telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/rotorcraft_survey.xml" flight_plan="flight_plans/Tudelft/rotorcraft_survey_competition.xml"
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml" settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int.xml settings/modules/config_asctec_v2.xml settings/control/rotorcraft_guidance.xml settings/estimation/ahrs_float_mlkf.xml settings/control/rotorcraft_speed.xml"
settings_modules="modules/gps_ubx_ucenter.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/geo_mag.xml"
gui_color="blue" gui_color="blue"
settings_modules="modules/gps_ubx_ucenter.xml modules/nav_survey_rectangle_rotorcraft.xml modules/nav_survey_poly_rotorcraft.xml modules/geo_mag.xml"
/> />
<aircraft <aircraft
name="MAVTec4_Bart" name="MAVTec4_Bart"
@@ -164,17 +186,6 @@
settings_modules="modules/geo_mag.xml modules/air_data.xml" settings_modules="modules/geo_mag.xml modules/air_data.xml"
gui_color="blue" gui_color="blue"
/> />
<aircraft
name="frog"
ac_id="5"
airframe="airframes/TUDelft/airframes/bebop_indi_frog.xml"
radio="radios/cockpitSX.xml"
telemetry="telemetry/default_rotorcraft.xml"
flight_plan="flight_plans/Tudelft/rotorcraft_survey_competition.xml"
settings="settings/rotorcraft_basic.xml"
settings_modules="modules/geo_mag.xml modules/air_data.xml modules/video_thread.xml modules/video_rtp_stream.xml modules/nav_survey_rectangle_rotorcraft.xml modules/digital_cam_video.xml modules/cv_colorfilter.xml"
gui_color="blue"
/>
<aircraft <aircraft
name="frog_flip" name="frog_flip"
ac_id="4" ac_id="4"
conf/flight_plans/Tudelft/rotorcraft_survey_mission.xml
+5 -1
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@@ -5,7 +5,7 @@
<header> <header>
#include "autopilot.h" #include "autopilot.h"
#include "subsystems/electrical.h" #include "subsystems/electrical.h"
#ifdef DC_AUTOSHOOT_STOP #ifdef DC_AUTOSHOOT_SURVEY_INTERVAL
#define LINE_START_FUNCTION dc_Survey(dc_distance_interval); #define LINE_START_FUNCTION dc_Survey(dc_distance_interval);
#define LINE_STOP_FUNCTION {dc_autoshoot = DC_AUTOSHOOT_STOP;} #define LINE_STOP_FUNCTION {dc_autoshoot = DC_AUTOSHOOT_STOP;}
#endif #endif
@@ -56,6 +56,10 @@
<stay wp="FC"/> <stay wp="FC"/>
</block> </block>
<block name="CAM" strip_button="Follow-Vision-Geolocation-Results" strip_icon="lookdown.png" group="hover">
<stay wp="CAM"/>
</block>
<block name="stay_p1"> <block name="stay_p1">
<stay wp="p1"/> <stay wp="p1"/>
</block> </block>